Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario descargar pdf (Pagina 45)

Motion Library Tutorial Switch Radius Calculation

MAN-MLT (Ver 2.0)

2-24

2.2.2.3 Circle center (Xc,Yc) Є L1 (line L1 intersects the center of

the circle)

2.2.2.3.1 Line goes outside of the circle (Figure 2.11).

An equation for r

(R + r)2 = (R + d)2 + r2 (2.2.2.3.1-1)

r = (2Rd + d2)/(2R) (2.2.2.3.1-2)

2.2.2.3.2 Line goes inside the circle (Figure 2.12)

(R – r)2 = (R – d)2 + r2 (2.2.2.3.2-1)

r = (2Rd – d2)/(2R) (2.2.2.3.2-2)

Figure

2-22

2.2.3 Line goes outside the circle

If the line goes outside of the circle, the switch arc radius is limited by the length of the line

segment and the length of the circle arc segment. The connection between the switch arc

radius and distance

d between intersection point and a last point of the switch arc on the

line

L was considered in section 3.2. The maximum switch radius for the given line

segment

ΔL can be calculated by formulas (2.2.2.1.1-5) or (2.2.2.2.1-3) from 2.2.2.1.1 where

d = ΔL.

When considering the limitations imposed by the length of the circle arc (defined by the

sweep angle and a circle radius), three cases are possible:

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Elmomc Multi-Axis Motion Controller-Maestro Motion Contro Manual de usuario Pagina 45